Abstract
The inverse problem of anthropomorphic manipulator kinematics in one that presents difficulties. In this paper is presented the method for solving the inverse problem of kinematics by treating the manipulator as two subsystems — the minimal configuration and the wrist.
In this way, the inverse problem of manipulator kinematics is simplified
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
Reference
P. Paul (Robot Manipulators: Mathematics, Programming, and Control,The computer Control of Robot Manipulators). The MIT Press. Second Printing (1982).
John M.Hollerbach. (Wrist-Partitioned. Inverse Kinematic Accelerations and Manipulator Dynamics). The International Journal of Robotics Research (1983).
R. Featherstone (Position and Velocity Transformations Between Robot end Effector Coordinates and Joint angles). The International Journal of Robotics Research (1983).
Author information
Authors and Affiliations
Editor information
Rights and permissions
Copyright information
© 1987 Hermes, Paris
About this chapter
Cite this chapter
Peng, Sx., Wang, G. (1987). A Method for Solving the Inverse Problem of Kinematics of Anthropomorphic Manipulators with Spherical Wrist. In: Morecki, A., Bianchi, G., Kędzior, K. (eds) RoManSy 6. Springer, Boston, MA. https://doi.org/10.1007/978-1-4684-6915-8_16
Download citation
DOI: https://doi.org/10.1007/978-1-4684-6915-8_16
Publisher Name: Springer, Boston, MA
Print ISBN: 978-1-4684-6917-2
Online ISBN: 978-1-4684-6915-8
eBook Packages: Springer Book Archive